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Vicon Nexus 2.9.3

Calibration Enhancement
1) Calibrate System as normal, no need to repeat to get values as small as possible. As an example, the
initial values for error are shown below.

Wan
d ct. World Error Image error World Error Difference Img. Error Difference
#1 (MX 40) 3910 0.406979 0.167162 0.04706162 0.019273368
#2 (MX T40-S) 3685 0.650553 0.167799 0.123641206 0.032098508
#3 (MX 40) 3794 0.463665 0.19967 0.043339615 0.018637979
#4 (MX T40-S) 3438 0.68345 0.172793 0.105719693 0.026616656
#5 (MX T40-S) 3600 0.575602 0.17281 0.144199314 0.04323932
#6 (MX F40) 3176 0.467143 0.190995 0.117427048 0.048065506
#7 (MX F40) 3254 0.534809 0.226088 0.236391988 0.099927522
#8 (MX T40-S) 2970 0.534484 0.15259 0.1053523 0.029939029
#9 (MX T40-S) 3623 0.973319 0.226699 0.170735774 0.039466551
#10 (MX 40) 2502 0.388089 0.223751 0.113241248 0.065006015
#11 (MX T40-S) 3405 1.02103 0.232424 0.344804039 0.078437211
#12 (MX 40) 4074 0.868979 0.442105 0.259490036 0.131547255
#13 (MX T40-S) 3470 0.560818 0.198687 0.049679853 0.016970613
#14 (MX 40) 2691 0.576636 0.284822 0.179278161 0.088454041
#15 (MX 40) 2814 0.441935 0.212936 -0.022068419 -0.010700234
#16 (MX T40-S) 3715 0.406757 0.172015 0.13022577 0.05488585

As usual, camera 12 is high. Cameras 7, 9, and 14 are also higher than optimal. These can be
improved.

2) Under ‘Calibrate Cameras’ tab click ‘show advanced’

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3) Change calibration type from ‘Full Calibration’ to ‘Calibration Refinement’, selected for all cameras,
and change refinement frames to approximately 500 (I haven’t tried a wide range of frames, but this
number seems to work well).

4) Run calibration while standing on force plate 5. Raise and lower wand in front of you while turning in
a circle. This should only take a few seconds.

5) Verify that error values have dropped. Shown below are the updated calibration values from the
initial calibration from step 1.

Wand
ct. World Error Image error World Error Difference Img. Error Difference
#1 (MX 40) 576 0.368881 0.151574 -0.038097463 -0.015588019
#2 (MX T40-S) 639 0.435408 0.112228 -0.215145319 -0.055571408
#3 (MX 40) 720 0.325804 0.140394 -0.137860775 -0.059276136
#4 (MX T40-S) 703 0.481585 0.121914 -0.201865083 -0.05087965
#5 (MX T40-S) 761 0.393069 0.118137 -0.182532967 -0.054673107
#6 (MX F40) 837 0.24989 0.102165 -0.217253457 -0.088829972
#7 (MX F40) 558 0.255222 0.107899 -0.279587213 -0.118189139
#8 (MX T40-S) 677 0.362676 0.103588 -0.171807301 -0.049001641
#9 (MX T40-S) 762 0.873305 0.203592 -0.100013874 -0.023106495
#10 (MX 40) 624 0.28203 0.162725 -0.10605958 -0.06102667
#11 (MX T40-S) 532 0.976479 0.222047 -0.044549061 -0.010377401
#12 (MX 40) 740 0.585868 0.29806 -0.283110201 -0.144044998
#13 (MX T40-S) 740 0.41987 0.14913 -0.140948116 -0.049557056
#14 (MX 40) 699 0.354376 0.174855 -0.22225927 -0.109966617
#15 (MX 40) 501 0.336087 0.161915 -0.105848766 -0.051021305
#16 (MX T40-S) 555 0.344813 0.146027 -0.061943177 -0.025987925

Error values are now much better, with camera 12 having an image error of well below the initial value
of 0.44.

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6) Return setting to ‘full calibration’ and reset refinement frames to 2500.

If you have any suggestions for improving this method further, please write them below